diff --git a/rclcpp/package.xml b/rclcpp/package.xml
index 171ccbc973..dbc984ca64 100644
--- a/rclcpp/package.xml
+++ b/rclcpp/package.xml
@@ -39,6 +39,7 @@
   <depend>tracetools</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
+  <test_depend>ament_cmake_google_benchmark</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>